tiny-engineer/src/hardware/pca9685_servos.cpp at main · jamro/tiny-engineer · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
#include <Arduino.h>

#include "pins.h"
#include "servos.h"
#include "display/oled.h"
#include "hardware/rgb.h"
#include "hardware/servo_wrapper.h"
#include "hardware/pca9685_servos.h"
#include "serial_log.h"
#include "settings/settings.h"

bool pca9685Connected() {
  return i2cDeviceConnected(PCA9685_ADDRESS);
}

void initPca9685() {
  serialLogPrintln();
  serialLogPrintln("Checking PCA9685 at 0x40...");

  if (!pca9685Connected()) {
    serialLogPrintln("ERROR: PCA9685 not found");

    showOledText(
      "PCA9685 ERROR",
      "Not found"
    );

    haltWithRgbCode(RGB_CODE_PCA9685);
  }

  serialLogPrintln("PCA9685 found");

  initServoPwmDriver();
}

bool moveServoSmooth(int index, float toAngle) {
  if (index < 0 || index >= SERVO_COUNT) {
    return false;
  }

  return servoAt(index).moveTo(toAngle);
}

bool moveServoSmoothElectrical(int index, float toAngle) {
  if (index < 0 || index >= SERVO_COUNT) {
    return false;
  }

  return servoAt(index).moveToElectrical(toAngle, SERVO_CALIB_SPEED_DEG_S);
}

void servoMoveAllToElectricalAngle(float angle) {
  float targets[SERVO_COUNT];

  for (int servo = 0; servo < SERVO_COUNT; servo++) {
    targets[servo] = angle;
  }

  servoMoveAllToElectrical(targets, SERVO_CALIB_SPEED_DEG_S);
}

void centerAllServos() {
  serialLogPrintln("Centering servos to mid (min+max)/2");

  float targets[SERVO_COUNT];

  for (int servo = 0; servo < SERVO_COUNT; servo++) {
    targets[servo] = servoNormToDeg(servo, 0.0f);
  }

  servoMoveAllSmoothTo(targets);
}

void servoMoveAllNorm(float n) {
  float targets[SERVO_COUNT];

  for (int i = 0; i < SERVO_COUNT; i++) {
    targets[i] = servoNormToDeg(i, n);
  }

  servoMoveAllSmoothTo(targets, SERVO_MAX_SPEED_DEG_S);
}

void runServoTest() {
  constexpr int TOTAL_STEPS = 4;

  serialLogPrintln();
  serialLogPrintln("==========================");
  serialLogPrintln("SERVO TEST - HEAD/NECK/HANDS/BODY");
  serialLogPrintln("==========================");

  serialLogPrintln("1. All servos -> mid");

  showServoProgress(
    1,
    TOTAL_STEPS,
    "ALL -> mid"
  );

  servoMoveAllNorm(0.0f);

  delay(1000);

  serialLogPrintln("2. All servos: mid -> +0.5");

  showServoProgress(
    2,
    TOTAL_STEPS,
    "mid -> +0.5"
  );

  servoMoveAllNorm(0.5f);

  serialLogPrintln("3. All servos: +0.5 -> -0.5");

  showServoProgress(
    3,
    TOTAL_STEPS,
    "+0.5 -> -0.5"
  );

  servoMoveAllNorm(-0.5f);

  serialLogPrintln("4. All servos: -0.5 -> mid");

  showServoProgress(
    4,
    TOTAL_STEPS,
    "-0.5 -> mid"
  );

  servoMoveAllNorm(0.0f);

  showServoTestFinished();

  serialLogPrintln(
    "All 5 servos test finished"
  );

  delay(1000);
}